相关论文: MADrive: Memory-Augmented Driving Scene Modeling

Urban scene reconstruction is crucial for real-world autonomous driving simulators. Although existing methods have achieved photorealistic reconstruction, they mostly focus on pinhole cameras and neglect fisheye cameras. In fact, how to…

We present DrivingGaussian++, an efficient and effective framework for realistic reconstructing and controllable editing of surrounding dynamic autonomous driving scenes. DrivingGaussian++ models the static background using incremental 3D…

We propose FreeSim, a camera simulation method for autonomous driving. FreeSim emphasizes high-quality rendering from viewpoints beyond the recorded ego trajectories. In such viewpoints, previous methods have unacceptable degradation…

End-to-end autonomous driving aims to generate safe and plausible planning policies from raw sensor input. Driving world models have shown great potential in learning rich representations by predicting the future evolution of a driving…

Autonomous driving simulation system plays a crucial role in enhancing self-driving data and simulating complex and rare traffic scenarios, ensuring navigation safety. However, traditional simulation systems, which often heavily rely on…

End-to-end autonomous driving (E2E-AD) has emerged as a promising paradigm that unifies perception, prediction, and planning into a holistic, data-driven framework. However, achieving robustness to varying camera viewpoints, a common…

Accurate calibration of car-following models is essential for understanding human driving behaviors and implementing high-fidelity microscopic simulations. This work proposes a memory-augmented Bayesian calibration technique to capture both…

Reconstructing large-scale dynamic driving scenes remains challenging due to the coexistence of static environments with extreme depth variation and diverse dynamic actors exhibiting complex motions. Existing Gaussian Splatting based…

Detecting a diverse range of objects under various driving scenarios is essential for the effectiveness of autonomous driving systems. However, the real-world data collected often lacks the necessary diversity presenting a long-tail…

Driving simulators play a large role in developing and testing new intelligent vehicle systems. The visual fidelity of the simulation is critical for building vision-based algorithms and conducting human driver experiments. Low visual…

We present DrivingGaussian, an efficient and effective framework for surrounding dynamic autonomous driving scenes. For complex scenes with moving objects, we first sequentially and progressively model the static background of the entire…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…

As perception models continue to develop, the need for large-scale datasets increases. However, data annotation remains far too expensive to effectively scale and meet the demand. Synthetic datasets provide a solution to boost model…

Unlike humans, who can effortlessly estimate the entirety of objects even when partially occluded, modern computer vision algorithms still find this aspect extremely challenging. Leveraging this amodal perception for autonomous driving…

Self-driving industries usually employ professional artists to build exquisite 3D cars. However, it is expensive to craft large-scale digital assets. Since there are already numerous datasets available that contain a vast number of images…

Vision-Language-Action (VLA) models have emerged as a promising framework for end-to-end autonomous driving. However, existing VLAs typically rely on sparse action supervision, which underutilizes their powerful scene understanding and…

Creating realistic and simulation-ready 3D assets is crucial for autonomous driving research and virtual environment construction. However, existing 3D vehicle generation methods are often trained on synthetic data with significant domain…

We present a novel approach, termed ADGaussian, for generalizable street scene reconstruction. The proposed method enables high-quality rendering from merely single-view input. Unlike prior Gaussian Splatting methods that primarily focus on…

Sensor simulation is a key component for testing the performance of self-driving vehicles and for data augmentation to better train perception systems. Typical approaches rely on artists to create both 3D assets and their animations to…

Photorealistic 3D reconstruction of street scenes is a critical technique for developing real-world simulators for autonomous driving. Despite the efficacy of Neural Radiance Fields (NeRF) for driving scenes, 3D Gaussian Splatting (3DGS)…